Adaptive control of a linear delta robot based on backstepping design

Yang Zhi-Xiang, Jing Quan Peng, Mei Yung Chen

研究成果: 書貢獻/報告類型會議貢獻

摘要

This paper presents 2nd order adaptive controller for a linear delta robot based on the backstepping design. For different inputs, including step and continuity signals, such as sine waves, 1st order and 2nd order controller design the compensation and achieve the tracking error can converge to zero. We used the parameters of linear delta robot and input the step function, sine wave to compare the performance which linear delta robot system is in the external disturbance. The design of the controller is mainly for the reference input order to reduce the system steady-state error, effectively improve the tracking performance of the input signal and achieve zero steady-state error.

原文英語
主出版物標題Proceedings - 2018 Joint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018
發行者Institute of Electrical and Electronics Engineers Inc.
頁面1138-1141
頁數4
ISBN(電子)9781538626337
DOIs
出版狀態已發佈 - 2018 七月 2
對外發佈Yes
事件Joint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018 - Toyama, 日本
持續時間: 2018 十二月 52018 十二月 8

出版系列

名字Proceedings - 2018 Joint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018

會議

會議Joint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018
國家日本
城市Toyama
期間18/12/518/12/8

ASJC Scopus subject areas

  • Human-Computer Interaction
  • Logic
  • Artificial Intelligence
  • Computational Theory and Mathematics
  • Computer Science Applications
  • Theoretical Computer Science

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  • 引用此

    Zhi-Xiang, Y., Peng, J. Q., & Chen, M. Y. (2018). Adaptive control of a linear delta robot based on backstepping design. 於 Proceedings - 2018 Joint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018 (頁 1138-1141). [8716045] (Proceedings - 2018 Joint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SCIS-ISIS.2018.00179